From 1dc4f5a2d7764f3194ea750526ced8c0b5a28d99 Mon Sep 17 00:00:00 2001 From: jureao Date: Sat, 24 Mar 2018 20:54:02 +0100 Subject: [PATCH] dir2ticks function protype --- src/odometry.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/odometry.py b/src/odometry.py index 1046891..78f26db 100644 --- a/src/odometry.py +++ b/src/odometry.py @@ -79,5 +79,10 @@ class Odometry: print((self._posxy[0], self._posxy[1])) def dir2ticks(self, destdir): # return amount of ticks to turn to a given direction (current direction should be _v_angle) - ticksperwheel = 0 + self._ticksperwheel = 0 + self._current_Direc = (self._v_angle /self._pi) * 180 + self._ticks_def = self._current_Direc - destdir + self._ticksperwheel = self._ticks_def / 2 + if self._ticksperwheel < 0: + self._ticksperwheel = - self._ticksperwheel return ticksperwheel